基于IAS信号自适应窄带解调的RV减速器摆线轮故障特征提取  

Fault feature extraction of RV reducer cycloidal gear based on adaptive narrowband demodulation of IAS signals

作　　者：张珈源 郭瑜[1] ZHANG Jiayuan;GUO Yu(Faculty of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming 650500,China)

机构地区：[1]昆明理工大学机电工程学院,昆明650500

出　　处：《振动与冲击》2024年第9期261-266,共6页Journal of Vibration and Shock

基　　金：国家自然科学基金(52165067);云南省重大科技专项计划(202002AC080001)。

摘　　要：RV(rotary vector)减速器广泛应用于工业机器人,研究其关键零部件的故障检测方法具有重要意义。由于RV减速器结构复杂、摆线轮转速低、故障冲击较弱等问题,造成摆线轮故障特征难以用常规振动分析方法提取。针对上述问题,提出一种基于瞬时角速度信号自适应窄带解调的RV减速器摆线轮故障特征提取方法。首先对编码器角度信号进行采集,然后使用向前差分法获得瞬时角速度信号,在此基础上,使用角域同步平均提取摆线轮周期相关同步分量,消除非同步干扰,并通过构建边带信噪比指标选取故障信息丰富的啮合谐波频带进行带通滤波,最后对滤波后的信号进行窄带解调,实现对RV减速器摆线轮的故障特征提取。试验结果表明,该方法可以有效地提取RV减速器摆线轮故障特征,且自适应实现优化带宽选择。Rotary vector(RV)reducers are widely used in industrial robots,and studying fault detection methods of their key components is of great significance.Due to complex structure of RV reducer,low rotating speed of cycloidal gear and weaker fault impact,it is difficult to extract fault features of cycloidal gear with conventional vibration analysis methods.Here,aiming at the above problems,a fault feature extraction method for RV reducer cycloidal gear based on adaptive narrowband demodulation of instantaneous angular speed(IAS)signals was proposed.Firstly,encoder angle signals were collected,and then the forward differential method was used to obtain IAS signals.Furthermore,cycloidal gear period related synchronous components were extracted using the angular domain synchronous averaging method,and asynchronous interferences were eliminated.A sideband signal-to-noise ratio index was constructed to choose a meshing harmonic frequency band with rich fault information for bandpass filtering.Finally,narrowband demodulation was performed for the filtered signals to realize fault feature extraction for cycloidal gear of RV reducer.The experimental results showed that the proposed method can effectively extract fault features of RV reducer cycloidal gear,and adaptively realize optimizing bandwidth selection.

关 键 词：RV减速器 摆线轮 瞬时角速度 边带信噪比指标 窄带解调技术 

分 类 号：TH132.414[机械工程—机械制造及自动化]